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Title: Design of a singularity-free articulated arm subassembly

Abstract

Adding a redundant degree of freedom to the shoulder pointing system complex of an articulated arm subassembly makes it possible to achieve a maximal workspace that is free of singularities. This paper derives a functional constraint between three of the four joints of this new type of arm, achieving a singularity-free workspace encompassing the entire reachable volume between the maximal- and minimal-reach surfaces. The large volume of dexterous workspace is verified by animation of the resulting arm design. Graphical results from the animation are presented comparing the dexterous workspace of this new arm to that of the standard nonredundant articulated arm subassembly such as found in the Puma manipulator.

Authors:
;  [1]
  1. Univ. of Notre Dame, IN (United States). Aerospace and Mechanical Engineering Dept.
Publication Date:
OSTI Identifier:
5076695
Resource Type:
Journal Article
Journal Name:
IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States)
Additional Journal Information:
Journal Volume: 9:6; Journal ID: ISSN 1042-296X
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; ROBOTS; MANIPULATORS; COMPUTER GRAPHICS; COMPUTER-AIDED DESIGN; COMPUTERIZED SIMULATION; DESIGN; EQUIPMENT; LABORATORY EQUIPMENT; MATERIALS HANDLING EQUIPMENT; REMOTE HANDLING EQUIPMENT; SIMULATION; 420200* - Engineering- Facilities, Equipment, & Techniques

Citation Formats

Remis, S J, and Stanisic, M M. Design of a singularity-free articulated arm subassembly. United States: N. p., 1993. Web. doi:10.1109/70.265924.
Remis, S J, & Stanisic, M M. Design of a singularity-free articulated arm subassembly. United States. https://doi.org/10.1109/70.265924
Remis, S J, and Stanisic, M M. 1993. "Design of a singularity-free articulated arm subassembly". United States. https://doi.org/10.1109/70.265924.
@article{osti_5076695,
title = {Design of a singularity-free articulated arm subassembly},
author = {Remis, S J and Stanisic, M M},
abstractNote = {Adding a redundant degree of freedom to the shoulder pointing system complex of an articulated arm subassembly makes it possible to achieve a maximal workspace that is free of singularities. This paper derives a functional constraint between three of the four joints of this new type of arm, achieving a singularity-free workspace encompassing the entire reachable volume between the maximal- and minimal-reach surfaces. The large volume of dexterous workspace is verified by animation of the resulting arm design. Graphical results from the animation are presented comparing the dexterous workspace of this new arm to that of the standard nonredundant articulated arm subassembly such as found in the Puma manipulator.},
doi = {10.1109/70.265924},
url = {https://www.osti.gov/biblio/5076695}, journal = {IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States)},
issn = {1042-296X},
number = ,
volume = 9:6,
place = {United States},
year = {Wed Dec 01 00:00:00 EST 1993},
month = {Wed Dec 01 00:00:00 EST 1993}
}